基于序單開鏈法的Tricept并聯(lián)機構的動力學分析及仿真.pdf

1、∑1404509單位代碼：—地墜學號：』塾絲QQ生分類號：—j衛(wèi)lli一研究生指導教師學科、專業(yè)張亞杰馮志發(fā)機械醴計及理論2008年01月】5日AbstractTriceptparallelmechanismbelongstoparallelmanipulatorwithmanyadvantagesoflargebearingcapacitygoodrigidity!highprecisionjfastsystemdynamicresp

2、onse，withoutaccumulativeerroretcSoitiswidelyusedtointhesefields，suchas，robot，flightsimulatorandnewtypemachineForaccomplishmentitsoptimizingdesign，realemulationandcontrol，youmusthaveafullknowledgeofthemanipulmingstructure

3、’SdynamicsThestructureoftheTriceptparallelmechanismisdescribedanditsDOFiscalculatedThedefinitionandcalculationformulaforconstraintdegreeandcouplingdegreeofsingle—openedchainareintroducedAccordingtodecomposingprincipleoft

4、heorderedsingleopenedchainandthedefinitionofcouplingdegree，theTriceptparallelmechanismisdiscomposedtothreesingle—openedchain，thenthecouplingdegreeoftheTriceptparallelmechanismiscalculatedtobe2Akindofnewmethodnamedordered

5、singleopenedchainthatCanbeusedindirectkinematicanddynamicanalysisBasedontheprincipleofthecomposingoforderedsingleopened—chain，thisdissertationpresentsasystematicresearchontheTriceptparallelmechanismTherigidbodydynamicsmo

6、deloftheTriceptparallelmechanismispresentedbasedonNewton—EulermethodThepaper’SworkestablishesthebasisfordynamicsanalysisandapplicationofmechanismwiththistypeThemechanicaldynamicssoftwareADAMSisadoptedtoestablishtheTricep

7、tparallelmechanismsimulatingmodel，andthesimulatingmodeliverifiedwiththissoftwareBysampleanalysisanddynamicssimulation，itisprovedthattheorderedsingle—opened—chainiscompletelyusedinthedirectdynamicsanalysis，andthemethodcan